CN113173216A - Moving device of robot and robot - Google Patents
Moving device of robot and robot Download PDFInfo
- Publication number
- CN113173216A CN113173216A CN202110533283.6A CN202110533283A CN113173216A CN 113173216 A CN113173216 A CN 113173216A CN 202110533283 A CN202110533283 A CN 202110533283A CN 113173216 A CN113173216 A CN 113173216A
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- connecting rod
- robot
- foot
- motor
- wheel
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/028—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members having wheels and mechanical legs
Abstract
The invention relates to the technical field of robots and discloses a moving device of a robot and the robot, wherein the moving device of the robot comprises a rack and at least two wheel-foot type moving assemblies arranged on the rack; each wheel foot type motion assembly comprises a foldable leg part and a power wheel, the foldable leg part comprises a driving device, a motor connecting rod, an auxiliary connecting rod and a foot connecting rod, the first end of the auxiliary connecting rod is hinged with the rack, the second end of the auxiliary connecting rod is hinged with the first end of the foot connecting rod, and the power wheel is installed at the second end of the foot connecting rod; and drive arrangement installs in the frame, and drive arrangement's output is connected with the first end of motor connecting rod, and the second end of motor connecting rod articulates on the pole body between the both ends of foot connecting rod, and drive arrangement driving motor connecting rod, auxiliary connecting rod, foot connecting rod are folded or are extended to make the mobile device of robot can change self height, have better topography adaptability and flexibility.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a moving device of a robot and the robot.
Background
In the process of challenging nature, humans try to advance in various complex environments, but are limited by the body of the blood, and have to utilize intelligent creation tools. Under unknown severe conditions, in order to complete multiple tasks such as transportation, emergency rescue, investigation and the like, human cumin searches how to use an unmanned platform to cross various obstacles and simultaneously carries out multiple functions. As a result, the mobile robot needs to control its motion mode by using a steering driving device during the moving and driving process, and due to different requirements of the environment, the bearing range, the flexibility and the like, a plurality of different motion modes are derived, mainly listed as follows:
the wheel type robot pushes the whole body to move by using the friction force generated by the rolling of the wheels and the ground, and has high movement speed and large load capacity; but the wheel type robot has poor terrain adaptability and can only run on a relatively flat road surface;
the crawler-type robot pushes the whole body to move by utilizing the friction force between the crawler and the ground, the load capacity is basically the same as that of the wheel-type robot, compared with the wheel-type robot, the crawler-type robot has better terrain adaptability, can pass through complicated terrains such as sand land and mountain land, and is suitable for the field working environment; however, the terrain adaptability of the tracked robot is limited, and the tracked robot is difficult to pass through terrains with large height difference such as stairs;
the foot type robot has strong terrain adaptability, good degree of freedom and flexible action; however, the foot type robot has the advantages of low moving speed, low efficiency and small load capacity.
The motion modes of the existing robot have advantages and disadvantages, and how to enable the robot to have higher terrain adaptability, motion efficiency and faster motion speed is a research hotspot in the field of robots.
Disclosure of Invention
The invention aims to provide a moving device of a robot and the robot, which have higher speed, better terrain adaptability and flexibility.
In order to solve the above technical problem, an embodiment of the present invention provides a mobile device for a robot, including a frame and at least two wheel-foot motion assemblies mounted on the frame;
each wheel-foot type motion assembly comprises a foldable leg part and a power wheel; the foldable leg comprises a driving device, a motor connecting rod, an auxiliary connecting rod and a foot connecting rod, and the driving device is installed on the rack; the first end of the auxiliary connecting rod is hinged with the rack, the second end of the auxiliary connecting rod is hinged with the first end of the foot connecting rod, and the power wheel is installed at the second end of the foot connecting rod; the output end of the driving device is connected with the first end of the motor connecting rod, and the second end of the motor connecting rod is hinged to the rod body between the two ends of the foot connecting rod.
Preferably, the second end of the motor connecting rod is hinged to the middle upper part of the foot connecting rod.
Preferably, the first end of the auxiliary connecting rod is located at the upper right of the first end of the motor connecting rod.
Preferably, the driving device comprises a driving motor, the driving motor is mounted on the frame, and the first end of the motor connecting rod is fixedly connected to an output shaft of the driving motor.
Preferably, the foldable leg further comprises a shock-absorbing device, and the shock-absorbing device is arranged between the foot connecting rod and the motor connecting rod.
Preferably, the foldable leg further comprises a connecting shaft, and the motor connecting rod is hinged to the foot connecting rod through the connecting shaft; damping device includes at least one torsional spring, the torsional spring cover is established on the connecting axle, the first end of torsional spring supports and leans on the motor connecting rod, the second end of torsional spring supports and leans on the foot connecting rod.
Preferably, the power wheel comprises a tire and a hub motor, the tire is arranged on the hub motor, and the hub motor is arranged at the second end of the foot connecting rod.
Preferably, the number of the wheel-foot type moving assemblies is two, and the two wheel-foot type moving assemblies are arranged on two opposite sides of the machine frame.
Preferably, the moving device of the robot further comprises a controller, and the controller is electrically connected with the driving device and the power wheel respectively.
In order to solve the same technical problem, an embodiment of the present invention further provides a robot including the moving device of the robot.
Compared with the prior art, the embodiment of the invention has the beneficial effects that: the embodiment of the invention provides a moving device of a robot, which comprises a frame and at least two wheel-foot type moving assemblies arranged on the frame; each wheel-foot type motion assembly comprises a foldable leg part and a power wheel, the foldable leg part comprises a driving device, a motor connecting rod, an auxiliary connecting rod and a foot connecting rod, a first end of the auxiliary connecting rod is hinged with the rack, a second end of the auxiliary connecting rod is hinged with a first end of the foot connecting rod, the power wheel is installed at a second end of the foot connecting rod, and a moving device of the robot can have higher speed by using a wheel type structure; and drive arrangement installs in the frame, and drive arrangement's output is connected with the first end of motor connecting rod, and the second end of motor connecting rod articulates on the pole body between the both ends of foot connecting rod, and drive arrangement provides drive power, and driving motor connecting rod, auxiliary connecting rod, foot connecting rod are folded or are extended to make the mobile device of robot can change self height, have better topography adaptability and flexibility. Meanwhile, the embodiment of the invention also correspondingly provides a robot.
Drawings
Fig. 1 is a schematic perspective view of a mobile device of a robot according to an embodiment of the present invention;
FIG. 2 is a schematic side view of a mobile device of a robot according to an embodiment of the present invention;
fig. 3 is a schematic front view of a mobile device of a robot according to an embodiment of the present invention;
fig. 4 is a schematic view showing a state in which the leg of the moving device of the robot is contracted in the embodiment of the present invention;
fig. 5 is a schematic view showing a state in which a leg of a moving device of the robot is extended in the embodiment of the present invention;
FIG. 6 is a schematic diagram of a mobile device of the robot in an obstacle crossing state in the embodiment of the invention;
FIG. 7 is a schematic view of the assembly between the torsion spring, the connecting shaft, the motor connecting rod and the foot connecting rod in the embodiment of the present invention;
fig. 8 is a schematic view showing a leg standing simulation of a mobile device of a robot in an embodiment of the present invention;
fig. 9 is a simulation diagram of a leg contraction process of the mobile device of the robot in the embodiment of the present invention;
wherein, 1, a frame; 2. a foldable leg; 3. a power wheel; 4. a drive motor; 5. a motor connecting rod; 6. an auxiliary connecting rod; 7. a foot connecting rod; 8. a torsion spring; 9. a tire; 10. a hub motor; 11. and (7) connecting the shafts.
Detailed Description
The following detailed description of embodiments of the present invention is provided in connection with the accompanying drawings and examples. The following examples are intended to illustrate the invention but are not intended to limit the scope of the invention.
In the description of the present invention, the descriptions of the upper, lower, left, right, front, rear, and the like orientations and the top and bottom are defined with respect to fig. 2, and when the placement manner of the mobile device of the robot is changed, the descriptions of the corresponding orientations and the top and bottom will also be changed according to the change of the placement manner, and the description of the present invention is not repeated herein.
Referring to fig. 1 to 6, an embodiment of the present invention provides a mobile device for a robot, which includes a frame 1 and at least two wheel-foot motion assemblies mounted on the frame 1;
each wheel-foot type motion assembly comprises a foldable leg part 2 and a power wheel 3; the foldable leg part 2 comprises a driving device, a motor connecting rod 5, an auxiliary connecting rod 6 and a foot connecting rod 7, and the driving device is arranged on the rack 1; the first end of the auxiliary connecting rod 6 is hinged with the frame 1, the second end of the auxiliary connecting rod 6 is hinged with the first end of the foot connecting rod 7, and the power wheel 3 is installed at the second end of the foot connecting rod 7; the output end of the driving device is connected with the first end of the motor connecting rod 5, and the second end of the motor connecting rod 5 is hinged on the rod body between the two ends of the foot connecting rod 7.
In the embodiment of the invention, the moving device of the robot comprises a frame 1 and at least two wheel-foot type moving assemblies arranged on the frame 1; each wheel-foot type motion assembly comprises a foldable leg part 2 and a power wheel 3, the foldable leg part 2 comprises a driving device, an auxiliary connecting rod 6, a foot connecting rod 7 and a motor connecting rod 5, a first end of the auxiliary connecting rod 6 is hinged with the rack 1, a second end of the auxiliary connecting rod 6 is hinged with a first end of the foot connecting rod 7, the power wheel 3 is installed at a second end of the foot connecting rod 7, and a moving device of the robot can have high speed by using a wheel type structure; and drive arrangement installs in frame 1, and drive arrangement's output is connected with the first end of motor connecting rod 5, and the second end of motor connecting rod 5 articulates on the pole body between the both ends of foot connecting rod 7, and drive arrangement provides drive power, and drive motor connecting rod 5, auxiliary connecting rod 6, foot connecting rod 7 are folded or are extended to make the mobile device of robot can change self height, have better topography adaptability and flexibility.
In the embodiment of the invention, the frame 1, the motor connecting rod 5, the auxiliary connecting rod 6 and the foot connecting rod 7 form a four-bar linkage structure, and the driving force is provided by the driving device so as to realize the actions of standing, squatting, jumping and the like of the legs of the robot.
It should be noted that, while keeping the upright motion, the robot equipped with the moving device provided by the embodiment of the present invention can move the center of gravity of the robot up and down by the extension and contraction of the foldable leg 2. With reference to fig. 8 and 9, fig. 8 is a schematic diagram illustrating a leg standing simulation of a mobile device of a robot in an embodiment of the present invention, and fig. 9 is a schematic diagram illustrating a leg contraction process simulation of a mobile device of a robot in an embodiment of the present invention, because the motor connecting rod 5 connected to the driving device is hinged to the rod body between the two ends of the foot connecting rod 7, when the robot moves up and down in situ, that is, when the foldable leg 2 is extended and contracted in situ, a motion trajectory of the second end of the foot connecting rod 7 is approximately a straight line perpendicular to the ground, when the height of the robot changes, the center of gravity of the robot can be maintained at the middle of the whole body, thereby reducing the difficulty of robot balance control, and further improving the stability of the robot at different center of gravity heights.
In an alternative embodiment, please refer to fig. 3, the number of the wheel-foot type moving assemblies is two, and the two wheel-foot type moving assemblies are arranged on two opposite sides of the frame 1. Of course, the wheel-foot type motion components can be set to other numbers according to the actual use requirement, and the description is omitted here.
Referring to fig. 2, in the embodiment of the present invention, the second end of the motor connecting rod 5 is hinged to the middle upper portion of the foot connecting rod 7. The first end of the auxiliary connecting rod 6 is positioned at the upper right of the first end of the motor connecting rod 5. Motor connecting rod 5 with the length of auxiliary connecting rod 6 all is greater than the first end of auxiliary connecting rod 6 with the distance between the first end of motor connecting rod 5, the first end of auxiliary connecting rod 6 with the distance between the first end of motor connecting rod 5 is greater than the second end of auxiliary connecting rod 6 with the distance between the second end of motor connecting rod 5.
Referring to fig. 1, in an alternative embodiment, the driving device includes a driving motor 4, the driving motor 4 is mounted on the frame 1, and a first end of the motor connecting rod 5 is fixedly connected to an output shaft of the driving motor 4. Because the first end of the motor connecting rod 5 is fixedly connected to the output shaft of the driving motor 4, when the output shaft of the driving motor 4 rotates, the whole foldable leg 2 can be driven to fold or extend.
Referring to fig. 3 and 7, in an alternative embodiment, the foldable leg 2 further comprises a shock-absorbing device, which is arranged between the foot connecting rod 7 and the motor connecting rod 5. Specifically, the foldable leg part 2 further comprises a connecting shaft 11, and the motor connecting rod 5 is hinged with the foot connecting rod 7 through the connecting shaft 11; damping device includes at least one torsional spring 8, 8 covers of torsional spring are established on the connecting axle 11, 8 first ends of torsional spring are supported and are leaned on the motor connecting rod 5, 8 second ends of torsional spring support and lean on the foot connecting rod 7.
In the middle of concrete implementation, traditional robot receives the topography easily and can't the steady movement, especially when facing complicated topography, discontinuous topography, the complexity of topography can influence the robot and carry out the task, for example, if when the robot need develop the detection task through the camera, traditional robot receives the topography easily and influences and lead to the camera to seriously rock at the removal in-process to influence the camera and shoot. In the moving device of the robot provided by the embodiment of the invention, the damping device is arranged between the foot connecting rod 7 and the motor connecting rod 5, for example, the torsion spring 8 is sleeved on the connecting shaft 11, and two ends of the torsion spring 8 respectively abut against the motor connecting rod 5 and the foot connecting rod 7, so that the damping can be effectively realized, the robot can stably move, and the robot can smoothly execute tasks. In addition, when the foldable leg 2 is in the contracted state, the torsion spring 8 is compressed, and when the foldable leg 2 is switched from the contracted state to the extended state, the torsion spring 8 is restored to the original state, so that the foldable leg 2 can be provided with extended power, and therefore, the output torque required by the driving motor 4 can be greatly reduced, so that a user can select a driving motor with smaller power, the overall operation power consumption of the robot can be reduced, and the service life of the driving motor 4 can be prolonged.
Referring to fig. 1 to 3, in an alternative embodiment, the power wheel 3 includes a tire 9 and a hub motor 10, the tire 9 is disposed on the hub motor 10, and the hub motor 10 is mounted on the second end of the foot connecting rod 7. The in-wheel motor 10 is used for realizing actions of balancing, advancing, turning and the like of the robot. In specific implementation, the driving force is provided for the power wheel 3 through the hub motor 10, so that the moving device can drive the robot to move rapidly, and the turning action of the robot can be controlled by controlling the differential speed of the power wheel 3 of the different wheel-foot type moving assemblies and the height difference between the foldable legs 2, and a specific control method can be implemented by adopting the prior art, which is not further described herein.
In an alternative embodiment, other devices can be installed on the power wheel 3 according to actual needs, for example, a distance sensor and an encoder can be arranged on the power wheel 3, the distance sensor is used for measuring the distance between the power wheel 3 and an obstacle, and the encoder is used for measuring the actual running speed of the in-wheel motor 10.
In an alternative embodiment, the moving means of the robot further comprise a controller electrically connected to the driving means and the power wheel 3, respectively. Of course, a main controller may also be provided on the robot, and the driving device and the power wheel 3 are directly controlled by the main controller of the robot to work, which is not described herein.
In an alternative embodiment, other devices may be installed on the rack 1 according to actual needs, for example, a camera and an attitude sensor module may be installed on the rack 1, and balance, position, speed and attitude control of the robot is achieved through a controller, the camera is used for acquiring terrain and image information of an environment where the robot is located, and the attitude sensor module is used for acquiring attitude and speed data of the robot.
In order to solve the same technical problem, an embodiment of the present invention further provides a robot including the moving device of the robot.
Compared with the prior art, the embodiment of the invention has the beneficial effects that: the embodiment of the invention provides a moving device of a robot, which comprises a frame 1 and at least two wheel-foot type moving assemblies arranged on the frame 1; each wheel-foot type motion assembly comprises a foldable leg part 2 and a power wheel 3, the foldable leg part 2 comprises a driving device, a motor connecting rod 5, an auxiliary connecting rod 6 and a foot connecting rod 7, a first end of the auxiliary connecting rod 6 is hinged with the rack 1, a second end of the auxiliary connecting rod 6 is hinged with a first end of the foot connecting rod 7, the power wheel 3 is installed at a second end of the foot connecting rod 7, and the moving device of the robot has higher speed and efficiency by using a wheel type structure, so that the difficulty of system control can be reduced; and drive arrangement installs in frame 1, and drive arrangement's output is connected with the first end of motor connecting rod 5, and the second end of motor connecting rod 5 articulates on the pole body between the both ends of foot connecting rod 7, and drive arrangement provides drive power, and drive motor connecting rod 5, auxiliary connecting rod 6, foot connecting rod 7 are folded or are extended to make the mobile device of robot can change self height, have better topography adaptability and flexibility. In addition, because the motor connecting rod 5 connected with the driving device is hinged on the rod body between the two ends of the foot connecting rod 7, when the robot moves up and down on the spot, namely when the foldable leg 2 stretches and retracts on the spot, the moving track of the second end of the foot connecting rod 7 is similar to a straight line vertical to the ground, when the height of the robot is changed, the gravity center of the robot can be kept in the middle of the whole body, the difficulty of robot balance control is reduced, and the stability of the robot at different gravity center heights is improved. Meanwhile, the embodiment of the invention also correspondingly provides a robot.
The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and substitutions can be made without departing from the technical principle of the present invention, and these modifications and substitutions should also be regarded as the protection scope of the present invention.
Claims (10)
1. A mobile device of a robot is characterized by comprising a frame and at least two wheel-foot type motion assemblies arranged on the frame;
each wheel-foot type motion assembly comprises a foldable leg part and a power wheel; the foldable leg comprises a driving device, a motor connecting rod, an auxiliary connecting rod and a foot connecting rod; the first end of the auxiliary connecting rod is hinged with the rack, the second end of the auxiliary connecting rod is hinged with the first end of the foot connecting rod, and the power wheel is installed at the second end of the foot connecting rod; the driving device is installed on the rack, the output end of the driving device is connected with the first end of the motor connecting rod, and the second end of the motor connecting rod is hinged to the rod body between the two ends of the foot connecting rod.
2. The robot moving apparatus as claimed in claim 1, wherein the second end of the motor connecting rod is hinged to a middle upper portion of the foot connecting rod.
3. The moving apparatus of a robot as claimed in claim 1, wherein the first end of the auxiliary connecting rod is positioned at a right upper side of the first end of the motor connecting rod.
4. The robot moving apparatus according to claim 1, wherein the driving means includes a driving motor mounted on the frame, and a first end of the motor connecting rod is fixedly connected to an output shaft of the driving motor.
5. A robot moving device according to any of claims 1-4, characterized in that the foldable leg further comprises a shock absorbing device, which is arranged between the foot connecting rod and the motor connecting rod.
6. The robot moving apparatus as claimed in claim 5, wherein the foldable leg further comprises a connecting shaft, the motor connecting rod being hinged to the foot connecting rod through the connecting shaft; damping device includes at least one torsional spring, the torsional spring cover is established on the connecting axle, the first end of torsional spring supports and leans on the motor connecting rod, the second end of torsional spring supports and leans on the foot connecting rod.
7. A robot moving device according to any of claims 1-4, characterized in that the power wheel comprises a tire and a hub motor, the tire being provided on the hub motor, the hub motor being mounted on the second end of the foot connecting rod.
8. A robot moving apparatus according to any of claims 1 to 4, wherein the number of said wheel-foot type moving assemblies is two, and two of said wheel-foot type moving assemblies are provided on opposite sides of said frame.
9. A robot moving apparatus according to any of claims 1-4, further comprising a controller electrically connected to the driving means and the power wheels, respectively.
10. A robot characterized by comprising a moving means of the robot according to any of claims 1-9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110533283.6A CN113173216A (en) | 2021-05-17 | 2021-05-17 | Moving device of robot and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110533283.6A CN113173216A (en) | 2021-05-17 | 2021-05-17 | Moving device of robot and robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113173216A true CN113173216A (en) | 2021-07-27 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110533283.6A Pending CN113173216A (en) | 2021-05-17 | 2021-05-17 | Moving device of robot and robot |
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| Country | Link |
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| CN (1) | CN113173216A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114056450A (en) * | 2021-11-26 | 2022-02-18 | 合肥工业大学 | Wheel-foot type folding leg for unmanned metamorphic vehicle |
| CN115123419A (en) * | 2022-07-29 | 2022-09-30 | 广东亿嘉和科技有限公司 | Leg of wheeled foot robot with force balance and hollow routing and working method |
| CN115285249A (en) * | 2022-07-20 | 2022-11-04 | 北京理工大学 | Rudder wheel foot vehicle |
-
2021
- 2021-05-17 CN CN202110533283.6A patent/CN113173216A/en active Pending
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114056450A (en) * | 2021-11-26 | 2022-02-18 | 合肥工业大学 | Wheel-foot type folding leg for unmanned metamorphic vehicle |
| CN115285249A (en) * | 2022-07-20 | 2022-11-04 | 北京理工大学 | Rudder wheel foot vehicle |
| CN115285249B (en) * | 2022-07-20 | 2024-01-26 | 北京理工大学 | Steering wheel foot vehicle |
| CN115123419A (en) * | 2022-07-29 | 2022-09-30 | 广东亿嘉和科技有限公司 | Leg of wheeled foot robot with force balance and hollow routing and working method |
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